From 79d1b205a0530decaebfbc853fdb0e6d883ea94b Mon Sep 17 00:00:00 2001
From: 535tobor <535tobor@gmail.com>
Date: Fri, 26 Jan 2024 02:07:41 -0500
Subject: [PATCH] 1.1

---
 .../teamcode/gamecode/autonomous/RedFarSide.java  |  2 +-
 .../teamcode/gamecode/autonomous/TeamProps.java   | 15 +++++++--------
 .../EncoderTickDefinitions.java                   | 15 +++++++++++----
 3 files changed, 19 insertions(+), 13 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSide.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSide.java
index 6ceef47..aa01cf4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSide.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSide.java
@@ -43,7 +43,7 @@ public void runInitLoop() {
 
     }
 
-    @Override //290
+    @Override
     public void runStart() {
         forwardAuto(3, 3,500); //
         strafeLeftAuto(8,3,500); //
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/TeamProps.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/TeamProps.java
index 60432ae..47dff5e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/TeamProps.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/TeamProps.java
@@ -50,12 +50,14 @@ public void runInit() {
         //arm = hardwareMap.dcMotor.get("arm");
         mapMotors(hardwareMap, Wheels.FRONT_LEFT.abbreviation(),Wheels.FRONT_RIGHT.abbreviation(),Wheels.BACK_LEFT.abbreviation(),Wheels.BACK_RIGHT.abbreviation());
         forwardMotors(true,false,true,false);
+        sensorRange = hardwareMap.get(DistanceSensor.class, "eye");
         // ^ set motor directions
         initAprilTag(hardwareMap, "Webcam 1", telemetry);
-        sensorRange = hardwareMap.get(DistanceSensor.class, "color");
+        Encoders.use();
         Encoders.clear();
 
 
+
     }
 
     @Override
@@ -63,13 +65,10 @@ public void runInitLoop(){}
 
     @Override
     public void runStart() {
-        backwardAuto(5,1,500); // away from wall.
-        sleep(2000);
-        turnRightAuto(800, 1, 500); // straighten out.
-        sleep(2000);
-        forwardAuto(5,1,500);
-        sleep(2000);
-        strafeRightAuto(5,1,500);
+        backwardAuto(13,3,200); // away from wall.
+        turnRightAuto(580+45+22,3,500);
+// styles said 290 should = 45 degrees so 45 + 45 is 90 so 580 because 290 + 290 = 580
+
         /*sleep(2500);
         backwardAuto(5,1,500);
         sleep(2500);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/operations/outputs/motors/drive/definingDriveMovements/EncoderTickDefinitions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/operations/outputs/motors/drive/definingDriveMovements/EncoderTickDefinitions.java
index cde4d3a..f1a2dfd 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/operations/outputs/motors/drive/definingDriveMovements/EncoderTickDefinitions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/operations/outputs/motors/drive/definingDriveMovements/EncoderTickDefinitions.java
@@ -17,12 +17,18 @@ public static void forwardAuto(double inches, long seconds, int encoderSpeed) {
         Encoders.target(-finalTicks,-finalTicks,-finalTicks,-finalTicks); // sets target position
         Encoders.go(); // goes to target position
         drive(-encoderSpeed,-encoderSpeed,-encoderSpeed,-encoderSpeed); // sets the velocity drive
-        driveStop();
         sleep(seconds*1000);
+        driveStop();
     }
 
     public static void backwardAuto(double inches, long seconds, int encoderSpeed) { // forward good.
-        forwardAuto(-inches, seconds, -encoderSpeed);
+        int finalTicks = (int) (inches * ticksPerInch);
+        Encoders.clear(); // resets wheel encoders
+        Encoders.target(finalTicks,finalTicks,finalTicks,finalTicks); // sets target position
+        Encoders.go(); // goes to target position
+        drive(encoderSpeed,encoderSpeed,encoderSpeed,encoderSpeed); // sets the velocity drive
+        sleep(seconds*1000);
+        driveStop();
     }
 
     public static void strafeLeftAuto(double inches, long seconds, int encoderSpeed) { // strafe good. // this is left
@@ -31,8 +37,9 @@ public static void strafeLeftAuto(double inches, long seconds, int encoderSpeed)
         Encoders.target(finalTicks,-finalTicks,-finalTicks,finalTicks); // sets target position
         Encoders.go(); // goes to target position // fl, fr, bl, br
         drive(encoderSpeed,-encoderSpeed,-encoderSpeed,encoderSpeed); // sets the velocity drive
-        driveStop();
         sleep(seconds*1000);
+        driveStop();
+
     }
 
     public static void strafeRightAuto(double inches, long seconds, int encoderSpeed) { // strafe good. // this is left
@@ -45,8 +52,8 @@ public static void turnRightAuto(float degrees, long seconds, int encoderSpeed)
         Encoders.target(-finalTicks,finalTicks,-finalTicks,finalTicks); // sets target position
         Encoders.go(); // goes to target position // fl, fr, bl, br
         drive(-encoderSpeed,encoderSpeed,-encoderSpeed,encoderSpeed); // sets the velocity drive
-        driveStop();
         sleep(seconds*1000);
+        driveStop();
     }
 
     public static void turnLeftAuto(float degrees, long seconds, int encoderSpeed) { // turn